WO2018103026A1 - 多旋翼无人飞行器 - Google Patents

多旋翼无人飞行器 Download PDF

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Publication number
WO2018103026A1
WO2018103026A1 PCT/CN2016/108952 CN2016108952W WO2018103026A1 WO 2018103026 A1 WO2018103026 A1 WO 2018103026A1 CN 2016108952 W CN2016108952 W CN 2016108952W WO 2018103026 A1 WO2018103026 A1 WO 2018103026A1
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WO
WIPO (PCT)
Prior art keywords
arm
unmanned aerial
aerial vehicle
rotor unmanned
connecting portion
Prior art date
Application number
PCT/CN2016/108952
Other languages
English (en)
French (fr)
Inventor
丘力
王铭熙
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to KR1020197005970A priority Critical patent/KR102184640B1/ko
Priority to CN201680003994.XA priority patent/CN107000834B/zh
Priority to PCT/CN2016/108952 priority patent/WO2018103026A1/zh
Priority to KR1020207033776A priority patent/KR102306463B1/ko
Publication of WO2018103026A1 publication Critical patent/WO2018103026A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs

Definitions

  • the present invention relates to the field of aircraft technology, and more particularly to a multi-rotor unmanned aerial vehicle.
  • folding wings are often used for assembly and transportation.
  • the shape of the folded wings is irregular, which improves the assembly of the multi-rotor UAV. Difficulties in transportation.
  • the invention provides a multi-rotor unmanned aerial vehicle, which is convenient for transporting the multi-rotor unmanned aerial vehicle in the prior art, and improves the difficulty in assembling and transporting the multi-rotor UAV.
  • the present invention is to provide a multi-rotor unmanned aerial vehicle comprising:
  • the arm extends toward the periphery of the fuselage when the arm is in an extended state
  • the arm is folded toward both sides of the fuselage when the arm is in a folded state.
  • the multi-rotor unmanned aerial vehicle provided by the invention can be arranged on the fuselage by folding a plurality of arms, and when the unmanned aerial vehicle is in use or in use, the arm can be extended, when needed
  • the arm can be set in a folded state, so that the UAV has a narrow strip structure, so that the shape of the UAV is adapted to the shape of the transport device, further facilitating the folding after the folding.
  • the human aircraft is placed in the transport device, effectively reducing the It is difficult to transport unmanned aerial vehicles and improve the practicality of unmanned aerial vehicles, which is conducive to the promotion and application of the market.
  • FIG. 1 is a schematic perspective structural view of a multi-rotor unmanned aerial vehicle with an arm in an extended state according to an embodiment of the present invention
  • FIG. 2 is a front elevational view showing the arm of the multi-rotor UAV in an extended state according to an embodiment of the present invention
  • FIG. 3 is a side view of a multi-rotor UAV with an arm in an extended state according to an embodiment of the present invention
  • FIG. 4 is an elevational view of the arm of the multi-rotor UAV in a folded state according to an embodiment of the present invention
  • FIG. 5 is a front elevational view showing the arm of the multi-rotor UAV in a folded state according to an embodiment of the present invention
  • FIG. 6 is a side view of the multi-rotor UAV with the arm in a folded state according to an embodiment of the present invention.
  • connection may be a fixed connection, a detachable connection, or an integral connection.
  • connection may be a fixed connection, a detachable connection, or an integral connection.
  • first and second are used merely to facilitate the description of different components, and are not to be construed as indicating or implying a sequence relationship, relative importance or implicit indication.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • FIG. 1 is a schematic perspective structural view of a multi-rotor unmanned aerial vehicle with an arm 2 in an extended state according to an embodiment of the present invention
  • FIG. 2 is a cross-sectional view of a multi-rotor UAV 2 in an extended position according to an embodiment of the present invention
  • FIG. 4 is an elevational view of the arm 2 of the multi-rotor UAV provided in a folded state according to an embodiment of the present invention
  • the present embodiment provides a multi-view.
  • Rotorcraft unmanned aerial vehicles including:
  • a plurality of arms 2 are foldably disposed on the body 1;
  • the arm 2 When the arm 2 is in the extended state, the arm 2 extends toward the periphery of the body 1;
  • the arm 2 When the arm 2 is in the folded state, the arm 2 is folded toward both sides of the body 1.
  • the specific shape and structure of the body 1 is not limited in this embodiment, and can be set by a person skilled in the art according to specific design requirements.
  • the body 1 can be set as a square structure, a polygonal structure, etc., and more preferably, The body 1 is arranged in a rectangular structure; in addition, the number of the arms 2 is not limited, and those skilled in the art can set according to specific design requirements, for example, can be set to 2, 4, 6 or 8 And so on, more preferably, the unmanned aerial vehicle is arranged to include at least four arms 2.
  • the arm 2 When the arm 2 is in the extended state, the arm 2 extends toward the periphery of the body 1, and the multi-rotor at this time The unmanned aerial vehicle is in use or in use. At this time, since the arm 2 extends toward the periphery of the fuselage 1, the lateral dimension and the longitudinal dimension of the unmanned aerial vehicle are both large.
  • both sides of the body 1 can be arranged to include: the head direction of the UAV and the tail of the UAV Direction; further, when the arm 2 is in the folded state, the plurality of arms 2 disposed on the body 1 are folded toward the head direction and the tail direction respectively, and the UAV at this time is to be assembled or to be transported. In the process.
  • the longitudinal dimension of the UAV is effectively reduced, so that the UAV has a narrow strip structure, and the strip structure is a relatively common structure.
  • the strip structure is adapted to the shape of the transport device for loading the unmanned aerial vehicle, wherein the transport device may include: an elongated backpack, a suitcase, a square box, etc., to facilitate assembly of the unmanned aerial vehicle and Transportation effectively reduces the difficulty of transporting and moving unmanned aerial vehicles.
  • the multi-rotor unmanned aerial vehicle provided by this embodiment is disposed on the fuselage 1 by folding the plurality of arms 2, and when the unmanned aerial vehicle is in use or in use, the arm 2 can be extended.
  • the arm 2 can be set to a folded state, so that the UAV has a narrow strip structure, so that the shape of the UAV is adapted to the shape of the transport device, which is further convenient.
  • the folding unmanned aerial vehicle is arranged in the transport device, which effectively reduces the difficulty of transporting the unmanned aerial vehicle, and improves the practicability of the unmanned aerial vehicle, and is beneficial to the promotion and application of the market.
  • the length of the arm 2 that is folded toward the nose is smaller than the orientation.
  • This embodiment does not limit the specific length dimension of the arm 2, and can be set by a person skilled in the art according to specific design requirements. It should be noted that when setting the length dimension of the arm 2, it is preferable to face the head.
  • the length of the arm 2 of the direction is set to be smaller than the length of the arm 2 toward the tail end, so that the center of the power point of the UAV is set close to the tail direction, so that the center of the power point of the backward shift can balance the unmanned aerial vehicle.
  • the gravity center effectively improves the safety and stability of the operation of the UAV.
  • each arm 2 is When both are in the extended state, the central axis of each arm 2 forms a same preset angle with a predetermined plane, wherein the preset plane is the yaw axis and the roll axis on the unmanned aerial vehicle. The plane formed.
  • the preset angle is not preset, and the specific angle range of the preset angle is not limited in this embodiment, and those skilled in the art may set according to specific design requirements.
  • the preset angle may be set to include 10°. 30°, 60°, 100°, 120° or 150°, etc., preferably, the preset angle is set to an obtuse angle.
  • each arm 2 forms a predetermined angle with the preset plane, and the central axis of each arm 2 is equal to the preset angle formed by the preset plane, so that the extension is performed.
  • the state of the unmanned aerial vehicle is a symmetrical structure, which facilitates adjustment and control of the operating state of the unmanned aerial vehicle.
  • FIG. 5 is a front view of the multi-rotor UAV with the arm 2 in a folded state according to an embodiment of the present invention
  • FIG. 6 is a folded state of the multi-rotor UAV 2 in the folded state according to an embodiment of the present invention
  • the present embodiment folds each arm 2 around a preset axis 3131, and each axis 3131 is preset with a preset.
  • a same predetermined angle is formed between the planes, wherein the preset plane is a plane formed by a yaw axis and a roll axis on the unmanned aerial vehicle.
  • the preset angle is not preset, and the specific angle range of the preset angle is not limited in this embodiment, and those skilled in the art may set according to specific design requirements.
  • the preset angle may be set to include 10°. 30°, 60°, 100°, 120° or 150°, etc., preferably, the preset angle is set to an acute angle; by setting the preset angle to an acute angle, the arm 2 and the machine in the folded state can be reduced.
  • the longitudinal dimension between the body 1 further reduces the space occupied by the UAV.
  • each axis 3131 forms a preset angle with the preset plane, and each axis The preset angle formed by the 3131 and the preset plane is equal, so that the unmanned aerial vehicle in the extended state has a symmetrical structure, and is convenient for assembling and transporting the unmanned aerial vehicle in a folded state.
  • the UAV is further configured to further include: a plurality of adjusting members 3, each adjusting member 3 is connected between the body 1 and the corresponding arm 2, and the arm 2 is stretched. In the state, the central axis of the arm 2 overlaps with the central axis of the adjusting member 3; when the arm 2 is in the folded state, the central axis of the arm 2 and the central axis of the adjusting member 3 are at a predetermined angle.
  • the number of the adjusting members 3 is the same as the number of the arms 2; that is, each arm 2 realizes a foldable connection with the body 1 through an adjusting member 3; and the specific shape structure of the adjusting member 3 in this embodiment Without limitation, those skilled in the art can set according to specific design requirements.
  • the adjusting member 3 is configured to include a connecting portion 31 connected to the body 1 and the arm 2 for implementing the arm 2 Switching between the extended state and the folded state.
  • the specific shape and structure of the connecting portion 31 are not limited in this embodiment, and those skilled in the art can set according to specific design requirements.
  • the connecting portion 31 can be set to a cylindrical structure, such that The connecting portion 31 effectively realizes the switching of the arm 2 between the extended state and the folded state.
  • the central axis of the arm 2 overlaps with the central axis of the adjusting member 3
  • the central axis of the adjusting member 3 overlaps with the central axis of the connecting portion 31;
  • the central axis of the arm 2 and the central axis of the adjusting member 3 have a predetermined angle
  • the preset angle formed between the central axis of the arm 2 and the central axis of the adjusting member 3 is preset, and can be set according to specific design requirements by a person skilled in the art.
  • the angle is set to an acute angle.
  • the foldable connection of the plurality of arms 2 to the fuselage 1 is effectively realized by the plurality of adjusting members 3 provided, and the adjusting member 3 realizes that the arm 2 can be in an extended state or a folded state, thereby effectively improving the arm 2
  • the stability and reliability of the folding operation further ensure the convenience and quickness of assembling and transporting the UAV.
  • the adjustment member 3 is set to further include:
  • the locking portion 32 is detachably coupled to the connecting portion 31 for connecting to the connecting portion 31 when the arm 2 is in the extended state, and is separated from the connecting portion 31 when the arm 2 is in the folded state.
  • the specific shape and structure of the locking portion 32 are not limited, and those skilled in the art can arbitrarily set the locking portion 32 according to the function of the function, and it is preferable to set the locking portion 32 to a cylindrical structure;
  • the locking portion 32 can lock the connection state of the arm 2 and the body 1, thereby improving the arm 2 and
  • the stable reliability of the connection of the fuselage 1 ensures the stable reliability of the operation of the unmanned aerial vehicle; and when the arm 2 is in the folded state, the locking portion 32 is separated from the connecting portion 31, and the locking portion 32 is released at this time.
  • the locking state of the connecting state of the arm 2 and the body 1 is such that the arm 2 is folded relative to the body 1, so that the folded UAV has a rectangular structure, which facilitates assembly and transportation of the UAV.
  • the locking portion 32 may be disposed to be sleeved on the outer side of the arm 2, and the inner diameter of the locking portion 32 is larger than the machine.
  • the technician can set according to specific design requirements, for example, the outer side of the connecting portion 31 is provided with an external thread, the inner side of the locking portion 32 is provided with an internal thread, and the connecting portion 31 and the locking portion 32 are externally and internally threaded.
  • the detachable connection between the locking portion 32 and the connecting portion 31 can be achieved by rotating the locking portion 32.
  • the outer side of the connecting portion 31 can be provided with a protrusion 3121
  • the inner side of the locking portion 32 is provided with The groove matching the protrusion 3121, the connecting portion 31 and the locking portion 32 are detachably connected to the groove through the protrusion 3121.
  • the detachable connection between the connecting portion 31 and the locking portion 32 can be implemented by other methods in the art, and details are not described herein again.
  • the locking portion 32 detachably connected to the connecting portion 31 By providing the locking portion 32 detachably connected to the connecting portion 31, the stability of the connection between the arm 2 and the body 1 when the arm 2 is in the extended state is effectively ensured, thereby improving the use of the UAV. Safety and reliability.
  • connection portion 31 is for the connection portion.
  • the specific shape structure of 31 is not limited, and those skilled in the art can set according to specific design requirements. More preferably, the connecting portion 31 is configured to include:
  • the adjustment sub-portion 312 is rotatably connected to the fixed sub-portion 311 and fixedly connected to the arm 2;
  • the arm 2 rotates relative to the fixed sub-portion 311 according to the provided power to adjust the arm 2 from the extended state to the folded state.
  • the fixing sub-portion 311 is fixedly connected to the body 1, the adjusting sub-portion 312 and the fixing sub-portion 311 are rotatably connected, so that the fixing sub-portion 311 and the adjusting sub-portion 312 can be respectively manufactured for the convenience of manufacturing the connecting portion 31.
  • the adjusting sub-section 312 is fixedly connected to the arm 2, so that the arm 2 can rotate the adjusting sub-section 312 relative to the fixed sub-section 311 under the action of an external force.
  • the arm 2 is operated by switching between an extended state and a folded state.
  • the specific shape and structure of the fixed sub-portion 311 and the adjusting sub-portion 312 are not limited in this embodiment, and those skilled in the art can set according to specific design requirements, in order to ensure that the arm 2 is switched between the extended state and the folded state.
  • the fixing sub-portion 311 and the adjusting sub-portion 312 have a semi-circular arc-shaped structure, and the connecting portion 31 is formed in a cylindrical structure; at this time, when the arm 2 is in an extended state, The fixing sub-portion 311 and the adjusting sub-portion 312 are both in contact with the outer side surface of the arm 2, and the connecting portion 31 is sleeved on the outer side surface of the arm 2, and the locking portion 32 at this time can be connected to the connecting portion.
  • the preset angle is used to limit the arm 2
  • the angle at which the folding operation is performed is limited, that is, the maximum angle of the folding movement of the arm 2 is the above-mentioned preset angle.
  • the specific implementation manner of the adjustment sub-section 312 and the fixed sub-portion 311 is not limited, and those skilled in the art may set according to specific design requirements.
  • the fixed sub-section 311 can be connected.
  • the sub-portion 313 is hinged to the adjusting sub-portion 312. It should be noted that the connecting sub-portion 313 is provided with a shaft 3131 along which the adjusting sub-portion 312 can be rotated, thereby realizing the extension and folding of the arm 2 Switching between states.

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Abstract

一种多旋翼无人飞行器，包括：机身（1），多个机臂（2），可折叠地设置于机身（1）上，在机臂（2）处于伸展状态时，机臂（2）朝向机身（1）四周延伸；在机臂（2）处于折叠状态时，机臂（2）朝向机身（1）的两侧折叠。该多旋翼无人飞行器通过将多个机臂（2）可折叠的设置于机身（1）上，当无人飞行器处于待使用或使用时，可以将机臂（2）处于伸展状态，当需要对无人飞行器进行装配和运输时，可以将机臂（2）设置为折叠状态，使得无人飞行器呈狭长的条形结构，无人飞行器的形状与运输装置的形状相适配，方便将折叠后的无人飞行器设置于运输装置中，降低了对无人飞行器的运输难度，提高了无人飞行器的实用性。

Description

多旋翼无人飞行器 技术领域
本发明涉及飞行器技术领域，尤其涉及一种多旋翼无人飞行器。
背景技术
随着科学技术的飞速发展，无人机技术发展越来越成熟，应用的领域也越来越广泛，例如：军事、科研、民用等领域，具体可以用于摄影、勘探、通信、防灾减灾、边境巡逻等等。
针对大型多旋翼无人机，为方便装配及运输，多采用折叠机翼，然而，现有技术中，折叠后的机翼的形状大都不规则，进而提高了对多旋翼无人机进行装配及运输的难度。
发明内容
本发明提供了一种多旋翼无人飞行器，针对现有技术中存在的不便于对多旋翼无人飞行器进行运输、提高了对多旋翼无人机进行装配及运输难度的问题。
本发明是为了提供一种多旋翼无人飞行器，包括：
机身，
多个机臂，可折叠地设置于所述机身上；
在所述机臂处于伸展状态时，所述机臂朝向所述机身四周延伸；
在所述机臂处于折叠状态时，所述机臂朝向所述机身的两侧折叠。
本发明提供的多旋翼无人飞行器，通过将多个机臂可折叠的设置于机身上，当无人飞行器处于待使用或者使用过程中时，可以将机臂处于伸展状态，当需要对无人飞行器进行装配和运输时，可以将机臂设置为折叠状态，使得无人飞行器呈狭长的条形结构，使得无人飞行器的形状与运输装置的形状相适配，进一步方便将折叠后的无人飞行器设置于运输装置中，有效地降低了 对无人飞行器的运输难度，并且提高了无人飞行器的实用性，有利于市场的推广与应用。
附图说明
图1为本发明实施例提供的一种多旋翼无人飞行器的机臂处于伸展状态的立体结构示意图；
图2为本发明实施例提供的一种多旋翼无人飞行器的机臂处于伸展状态的主视图；
图3为本发明实施例提供的一种多旋翼无人飞行器的机臂处于伸展状态的侧视图；
图4为本发明实施例提供的一种多旋翼无人飞行器的机臂处于折叠状态的立视图；
图5为本发明实施例提供的一种多旋翼无人飞行器的机臂处于折叠状态的主视图；
图6为本发明实施例提供的一种多旋翼无人飞行器的机臂处于折叠状态的侧视图。
图中：
1、机身；                                2、机臂；
3、调整件；                              31、连接部；
311、固定子部；                          312、调整子部；
3121、凸起；                             313、连接子部；
3131、轴；                               32、锁紧部。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明中，术语“安装”、“连接”、“固定”等术语均应广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
需要说明的是，在本发明的描述中，术语“第一”、“第二”仅用于方便描述不同的部件，而不能理解为指示或暗示顺序关系、相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
下面结合附图，对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
实施例一
图1为本发明实施例提供的一种多旋翼无人飞行器的机臂2处于伸展状态的立体结构示意图；图2为本发明实施例提供的一种多旋翼无人飞行器的机臂2处于伸展状态的主视图；图4为本发明实施例提供的一种多旋翼无人飞行器的机臂2处于折叠状态的立视图；参考附图1-2、4可知，本实施例提供了一种多旋翼无人飞行器，包括：
机身1，
多个机臂2，可折叠地设置于机身1上；
在机臂2处于伸展状态时，机臂2朝向机身1四周延伸；
在机臂2处于折叠状态时，机臂2朝向机身1的两侧折叠。
本实施例对于机身1的具体形状结构不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：可以将机身1设置为方形结构、多边形结构等等，较为优选的，可以将机身1设置为矩形结构；另外，对于机臂2的个数不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如，可以设置为2个、4个、6个或8个等等，较为优选的，将无人飞行器上设置为包括至少四个机臂2。
在机臂2处于伸展状态时，机臂2朝向机身1四周延伸，此时的多旋翼 无人飞行器处于待使用或者使用过程中，此时，由于机臂2朝向机身1四周延伸，使得无人飞行器的横向尺寸和纵向尺寸均较大。
当机臂2处于折叠状态时，机臂2朝向机身1的两侧折叠，具体的，可以将机身1的两侧设置为包括：无人飞行器的机头方向和无人飞行器的机尾方向；进而使得机臂2在折叠状态时，所设置于机身1上的多个机臂2分别朝向机头方向和机尾方向进行折叠操作，此时的无人飞行器处于待装配或者待运输过程中。通过将机臂2设置为朝向机头方向和机尾方向进行折叠，有效地减小了无人飞行器的纵向尺寸，使得无人飞行器呈狭长的条形结构，条形结构为较为常见的结构，并且该条形结构与用于装运无人飞行器的运输装置的形状相适配，其中，运输装置可以包括：长条形背包、手提箱、方形箱等等，从而方便对无人飞行器进行装配和运输，有效地降低了对无人飞行器的运输和移动难度。
本实施例提供的多旋翼无人飞行器，通过将多个机臂2可折叠的设置于机身1上，当无人飞行器处于待使用或者使用过程中时，可以将机臂2处于伸展状态，当需要对无人飞行器进行装配和运输时，可以将机臂2设置为折叠状态，使得无人飞行器呈狭长的条形结构，使得无人飞行器的形状与运输装置的形状相适配，进一步方便将折叠后的无人飞行器设置于运输装置中，有效地降低了对无人飞行器的运输难度，并且提高了无人飞行器的实用性，有利于市场的推广与应用。
实施例二
在上述实施例的基础上，继续参考附图1-2、4可知，为了进一步提高无人飞行器使用的稳定可靠性，本实施例将朝向机头方向进行折叠的机臂2的长度小于朝向机尾方向进行折叠的机臂2的长度。
本实施例对于机臂2的具体长度尺寸不做限定，本领域技术人员可以根据具体的设计需求进行设置；需要注意的是，在设置机臂2长度尺寸时，较为优选的，将朝向机头方向的机臂2长度设置为小于朝向机尾方向的机臂2长度，这样实现了将无人飞行器的动力点中心设置为靠近机尾方向，从而使得后移的动力点中心可以平衡无人飞行器的重力中心，有效地提高了无人飞行器运行的安全稳定性。
实施例三
图3为本发明实施例提供的一种多旋翼无人飞行器的机臂2处于伸展状态的侧视图；在上述实施例的基础上，继续参考附图1-4可知，在每个机臂2均处于伸展状态时，每个机臂2的中轴线均与一预设平面之间均形成一相同的预设角度，其中，预设平面是由无人飞行器上的偏航轴和横滚轴所构成的平面。
其中，预设角度为预先设置的，本实施例对于预设角度的具体角度范围不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如，可以将预设角度设置为包括10°、30°、60°、100°、120°或150°等等，较为优选的，将预设角度设置为钝角。
需要说明的是，每个机臂2的中轴线均与预设平面形成一个预设角度，并且每个机臂2的中轴线与预设平面所形成的预设角度均相等，这样使得处于伸展状态的无人飞行器为对称结构，方便对无人飞行器的运行状态进行调整与控制。
实施例四
图5为本发明实施例提供的一种多旋翼无人飞行器的机臂2处于折叠状态的主视图；图6为本发明实施例提供的一种多旋翼无人飞行器的机臂2处于折叠状态的侧视图；在上述实施例的基础上，继续参考附图1-6可知，本实施例将每个机臂2均围绕一个预设的轴3131进行折叠，每个轴3131均与一预设平面之间均形成一相同的预设角度，其中，预设平面是由无人飞行器上的偏航轴和横滚轴所构成的平面。
其中，预设角度为预先设置的，本实施例对于预设角度的具体角度范围不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如，可以将预设角度设置为包括10°、30°、60°、100°、120°或150°等等，较为优选的，将预设角度设置为锐角；通过将预设角度设置为锐角，从而可以缩小折叠状态的机臂2与机身1之间的纵向尺寸，进一步减少了无人飞行器的占用空间。
需要说明的是，每个轴3131均与预设平面形成一个预设角度，而每个轴 3131与预设平面所形成的预设角度均相等，这样使得处于伸展状态的无人飞行器为对称结构，方便对处于折叠状态的无人飞行器进行装配和运输。
实施例五
在上述实施例的基础上，继续参考附图1-6可知，本实施例对于多个机臂2可折叠地设置于机身1上的具体实现方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，较为优选的，将无人飞行器设置为还包括：多个调整件3，每个调整件3连接于机身1和对应的机臂2之间，在机臂2处于伸展状态时，机臂2的中轴线与调整件3的中轴线相重叠；在机臂2处于折叠状态时，机臂2的中轴线与调整件3的中轴线之间呈一预设夹角。
其中，调整件3的个数与机臂2的个数相同；即每个机臂2通过一个调整件3实现与机身1的可折叠连接；而本实施例对于调整件3的具体形状结构不做限定，本领域技术人员可以根据具体的设计需求进行设置，较为优选的，将调整件3设置为包括：连接部31，与机身1和机臂2相连接，用于实现机臂2在伸展状态和折叠状态之间的切换。
此外，本实施例对于连接部31的具体形状结构不做限定，本领域技术人员可以根据具体的设计需求进行设置，较为优选的，可以将连接部31设置为圆筒形结构，这样通过设置的连接部31，有效地实现了机臂2在伸展状态和折叠状态之间的切换，具体的，当在机臂2处于伸展状态时，机臂2的中轴线与调整件3的中轴线相重叠，此时的调整件3的中轴线与连接部31的中轴线相重叠；在机臂2处于折叠状态时，机臂2的中轴线与调整件3的中轴线之间呈一预设夹角；其中，机臂2的中轴线与调整件3的中轴线之间所形成的预设夹角为预先设置的，本领域技术人员可以根据具体的设计需求进行设置，较为优选的，将预设夹角设置为锐角。
通过设置的多个调整件3有效地实现了多个机臂2与机身1的可折叠连接，通过调整件3实现了机臂2可以处于伸展状态或者折叠状态，有效地提高了对机臂2进行折叠操作的稳定可靠性，进一步保证了对无人飞行器进行装配和运输的方便、快捷性。
实施例六
在上述实施例的基础上，继续参考附图1-6可知，为了保证无人飞行器运行的稳定可靠性，将调整件3设置为还包括：
锁紧部32，与连接部31可拆卸连接，用于在机臂2处于伸展状态时，与连接部31相连接；并在机臂2处于折叠状态时，与连接部31相分离。
其中，对于锁紧部32的具体形状结构不做限定，本领域技术人员可以根据其实现的功能作用对其进行任意设置，较为优选的，将锁紧部32设置为圆筒形结构；具体的，在机臂2处于伸展状态时，锁紧部32与连接部31相连接，此时的锁紧部32可以将机臂2与机身1的连接状态进行锁定，从而提高了机臂2与机身1连接的稳定可靠性，保证了无人飞行器运行的稳定可靠性；而在机臂2处于折叠状态时，锁紧部32与连接部31相分离，此时的锁紧部32解除对机臂2与机身1的连接状态的锁定，从而使得机臂2相对于机身1进行折叠操作，使得折叠后的无人飞行器呈矩形结构，方便对无人飞行器进行装配和运输。
为了较好地实现锁紧部32对机臂2与机身1的连接状态进行锁定，可以将锁紧部32设置为套设在机臂2的外侧，且锁紧部32的内径尺寸大于机臂2的外径尺寸，进而使得锁紧部32可以在机臂2上进行自由移动；另外，本实施例对于锁紧部32与连接部31可拆卸连接的具体实现方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，例如：将连接部31的外侧设置有外螺纹，锁紧部32的内侧设置有内螺纹，连接部31与锁紧部32通过外螺纹与内螺纹的配合相连接；这样通过转动锁紧部32可以实现锁紧部32与连接部31的可拆卸连接；或者，还可以将连接部31的外侧设置有凸起3121，锁紧部32的内侧设置有与凸起3121相配合的凹槽，连接部31与锁紧部32通过凸起3121与凹槽可拆卸连接。当然的，本领域技术人员还可以采用其他的方式实现连接部31与锁紧部32的可拆卸连接，在此不再赘述。
通过设置的与连接部31可拆卸连接的锁紧部32，有效地保证了在机臂2处于伸展状态时的机臂2与机身1连接的稳定可靠性，进而提高了无人飞行器使用的安全可靠性。
实施例七
在上述实施例的基础上，继续参考附图1-6可知，本实施例对于连接部 31的具体形状结构不做限定，本领域技术人员可以根据具体的设计需求进行设置，较为优选的，将连接部31设置为包括：
固定子部311，与机身1固定连接；
调整子部312，与固定子部311转动连接，且与机臂2固定连接；
机臂2根据所提供的动力带动调整子部312相对于固定子部311进行转动，以使得机臂2由伸展状态切换至折叠状态。
其中，由于固定子部311与机身1固定连接，调整子部312与固定子部311转动连接，从而，为了方便对连接部31进行生产制造，可以将固定子部311与调整子部312分别设置于机臂2的外壁两侧，此时的调整子部312与机臂2固定连接，从而使得机臂2在外力的作用下可以带动调整子部312相对于固定子部311进行转动，实现机臂2由伸展状态与折叠状态的切换操作。
此外，本实施例对于固定子部311和调整子部312的具体形状结构不做限定，本领域技术人员可以根据具体的设计需求进行设置，为了保证机臂2在伸展状态与折叠状态之间切换操作的稳定可靠性，较为优选的，将固定子部311和调整子部312均呈半圆弧形结构，所构成的连接部31呈圆筒结构；此时，当机臂2处于伸展状态时，固定子部311和调整子部312均与机臂2的外侧面相抵接，此时的连接部31套设在机臂2的外侧面上，并且此时的锁紧部32可以与连接子部313相抵接；而在机臂2处于折叠状态时，机臂2的中轴线与固定子部311之间形成预设夹角，并且预设角度为锐角；该预设夹角用于限制机臂2进行折叠操作程度的限制角度，即机臂2进行折叠运动的角度最大范围为上述预设夹角。
另外，本实施例对于调整子部312与固定子部311转动连接的具体实现方式不做限定，本领域技术人员可以根据具体的设计需求进行设置，较为优选的，可以将固定子部311通过连接子部313与调整子部312相铰接，需要说明的是，在连接子部313中设置有轴3131，调整子部312可以沿该轴3131进行转动操作，从而实现机臂2在伸展状态与折叠状态之间的切换。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并 不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (22)

  1. 一种多旋翼无人飞行器，其特征在于，包括：
    机身，
    多个机臂，可折叠地设置于所述机身上；
    在所述机臂处于伸展状态时，所述机臂朝向所述机身四周延伸；
    在所述机臂处于折叠状态时，所述机臂朝向所述机身的两侧折叠。
  2. 根据权利要求1所述的多旋翼无人飞行器，其特征在于，所述机身的两侧包括：所述无人飞行器的机头方向和所述无人飞行器的机尾方向。
  3. 根据权利要求2所述的多旋翼无人飞行器，其特征在于，朝向所述机头方向进行折叠的所述机臂的长度小于朝向所述机尾方向进行折叠的所述机臂的长度。
  4. 根据权利要求1所述的多旋翼无人飞行器，其特征在于，当所述机臂处于折叠状态时，所述无人飞行器呈狭长的条形结构。
  5. 根据权利要求1所述的多旋翼无人飞行器，其特征在于，在每个所述机臂均处于伸展状态时，每个所述机臂的中轴线均与一预设平面之间均形成一相同的预设角度，其中，所述预设平面是由所述无人飞行器上的偏航轴和横滚轴所构成的平面。
  6. 根据权利要求5所述的多旋翼无人飞行器，其特征在于，所述预设角度为钝角。
  7. 根据权利要求1所述的多旋翼无人飞行器，其特征在于，每个所述机臂均围绕一个预设的轴进行折叠，每个所述轴均与一预设平面之间均形成一相同的预设角度，其中，所述预设平面是由所述无人飞行器上的偏航轴和横滚轴所构成的平面。
  8. 根据权利要求7所述的多旋翼无人飞行器，其特征在于，所述预设角度为锐角。
  9. 根据权利要求1所述的多旋翼无人飞行器，其特征在于，还包括多个调整件，每个所述调整件连接于所述机身和对应的所述机臂之间，在所述机臂处于伸展状态时，所述机臂的中轴线与所述调整件的中轴线相重叠；在所述机臂处于折叠状态时，所述机臂的中轴线与所述调整件的中轴线之间呈一 预设夹角。
  10. 根据权利要求9所述的多旋翼无人飞行器，其特征在于，所述调整件包括：
    连接部，与所述机身和机臂相连接，用于实现所述机臂在伸展状态和折叠状态之间的切换。
  11. 根据权利要求10所述的多旋翼无人飞行器，其特征在于，所述调整件还包括：
    锁紧部，与所述连接部可拆卸连接，用于在所述机臂处于伸展状态时，与所述连接部相连接；并在所述机臂处于折叠状态时，与所述连接部相分离。
  12. 根据权利要求11所述的多旋翼无人飞行器，其特征在于，所述锁紧部套设在所述机臂的外侧，且所述锁紧部的内径尺寸大于所述机臂的外径尺寸。
  13. 根据权利要求11所述的多旋翼无人飞行器，其特征在于，所述连接部的外侧设置有外螺纹，所述锁紧部的内侧设置有内螺纹，所述连接部与所述锁紧部通过所述外螺纹与所述内螺纹的配合相连接。
  14. 根据权利要求11所述的多旋翼无人飞行器，其特征在于，所述连接部的外侧设置有凸起，所述锁紧部的内侧设置有与所述凸起相配合的凹槽，所述连接部与所述锁紧部通过所述凸起与所述凹槽可拆卸连接。
  15. 根据权利要求11所述的多旋翼无人飞行器，其特征在于，所述连接部包括：
    固定子部，与所述机身固定连接；
    调整子部，与所述固定子部转动连接，且与所述机臂固定连接；
    所述机臂根据所提供的动力带动所述调整子部相对于所述固定子部进行转动，以使得所述机臂由伸展状态切换至折叠状态。
  16. 根据权利要求15所述的多旋翼无人飞行器，其特征在于，所述固定子部与所述调整子部分别设置于所述机臂的外壁两侧。
  17. 根据权利要求16所述的多旋翼无人飞行器，其特征在于，所述固定子部和所述调整子部均呈半圆弧形结构，所构成的连接部呈圆筒结构。
  18. 根据权利要求15所述的多旋翼无人飞行器，其特征在于，在所述机臂处于折叠状态时，所述机臂的中轴线与所述固定子部之间形成所述预设夹 角。
  19. 根据权利要求18所述的多旋翼无人飞行器，其特征在于，所述预设角度为锐角。
  20. 根据权利要求15所述的多旋翼无人飞行器，其特征在于，所述固定子部通过连接子部与所述调整子部相铰接。
  21. 根据权利要求20所述的多旋翼无人飞行器，其特征在于，在所述机臂处于伸展状态时，所述锁紧部与所述连接子部相抵接。
  22. 根据权利要求1-21中任意一项所述的多旋翼无人飞行器，其特征在于，所述多旋翼无人飞行器包括至少四个机臂。
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